检索结果-内蒙古大学图书馆

IEEE Conference on Decision and Control

作者： Luís Martins Carlos Cardeira Paulo Oliveira Institute of Mechanical Engineering Instituto Superior Técnico Universidade de Lisboa Lisboa Portugal Institute of Mechanical Engineering and the Institute for Systems and Robotics Instituto Superior Técnico Universidade de Lisboa Lisboa Portugal

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

This paper introduces an innovative control solution to tackle the problem of robust attitude tracking for fully actuated rigid bodies. The approach resorts to the modified Rodrigues parameters (MRP), whose configuration manifold is a double cover of the three-dimensional rotation group, to design a dynamic hybrid controller that yields uniform global asymptotic and semi-global exponential tracking results in the covering space. The controller includes an integral term to deal with constant disturbances and a smoothing mechanism to generate a jump-free control signal. By relying on a hybrid dynamic path-lifting algorithm and novel equivalence of stability concepts, the authors demonstrate that the MRP-based dynamic controller globally asymptotically and semi-globally exponentially stabilizes the tracking dynamics in the base space SO(3) with robustness to small measurement noise and unknown fixed disturbances. The simulation results showcase the performance of the proposed hybrid controller.

关键词： Manifolds Smoothing methods Torque Attitude control Heuristic algorithms Simulation Noise Aerospace electronics Robustness Noise measurement

来源：评论

学校读者我要写书评

暂无评论

Design of a Miniature Flapping-Wing Robot Capable of Quick and Energy-Efficient Takeoff

Design of a Miniature Flapping-Wing Robot Capable of Quick a...

引用

IEEE International Conference on robotics and Biomimetics

作者： Yi Xu Yishi Shen Liang Peng Qi Li Jin Yu Shi Zhang Qing Shi Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Ministry of Education Beijing China Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Micro areal vehicles are widely used in civilian and military applications, but it is still challenging for them to take off in place with both high speed and energy utilization efficiency. Inspired by locusts, one solution is to integrate the flying with the jumping motion, utilizing the speed generated by jumping to provide sufficient aerodynamic forces for the flight. In this paper, we develop a miniature locust-inspired robot capable of jumping and flying. By coupling the jumpingleg mechanism and flapping-wing mechanism, the robot has a compacted size (with a body length of 15 cm and a weight of 23 g). Furthermore, we design a cascaded jump-flying controller to achieve stable transition and maneuverable flight. A series of experimental results reveal that the robot achieves a maximum jumping height of 50 cm and a minimum flying turning radius of 0.8 m. Remarkably, the robot is capable of taking off in place through controlling the hindleg and wings coordinately.

关键词： Couplings Attitude control Robot kinematics Biomimetics Robot sensing systems Turning Control systems Energy efficiency Sensors Biosensors

来源：评论

学校读者我要写书评

暂无评论

Assessment the feasibility of an AI model predicting lower extremity joint moments during walking in patients with cerebral palsy

引用

Gait & Posture 2024年 113卷 199-200页

作者： Firooz Salami Mustafa Erkam Ozates Yunus Ziya Arslan Sebastian Immanuel Wolf Universitätsklinikum Heidelberg Orthopedics and Trauma Surgery Heidelberg Germany Institute of Graduate Studies in Science and Engineering- Turkish-German University Department of Robotics and Intelligent Systems Istanbul Turkey

来源：评论

学校读者我要写书评

暂无评论

A Clustering-Based Support Vector Classifier for Dynamic Time-Linkage Optimization

A Clustering-Based Support Vector Classifier for Dynamic Tim...

引用

2023 IEEE Symposium Series on Computational Intelligence, SSCI 2023

作者： Gao, Meng Liu, Xiao-Fang Zhan, Zhi-Hui Zhang, Jun Institute of Robotics and Automatic Information Systems College of Artificial Intelligence Nankai University Tianjin China School of Computer Science and Engineering South China University of Technology Guangzhou China Hanyang University Ansan South Korea Nankai University Tianjin China

ISBN: (纸本)9781665430654

Dynamic time-linkage optimization problems (DTPs) bring challenges to existing evolutionary algorithms due to the influence of a current decision in the future. Existing methods usually model the rewards of a current decision in the future for prediction. However, these methods often present low prediction accuracy due to the lack of sufficient training data. In addition, they often require a long computational time. To address these issues, the problem of predicting rewards is converted into a simpler binary classification problem, which evaluates whether a current solution can bring positive or negative influence in the future. This paper proposes a clustering-based support vector classifier for solution evaluation. In the proposed method, the density of the time-linkage property is detected first. Historical data are divided using k-means clustering so as to train a support vector classifier for solution evaluation. Good solutions are selected to generate a final decision solution using a crossover operator. Integrating the clustering-based support vector classifier into particle swarm optimization, a new method named CSVC-PSO is put forward. Multiple instances are constructed using a recent DTP test suite with different types of time-linkage patterns and density. Experimental results demonstrate that the proposed CSVC-PSO outperforms state-of-the-art algorithms on most instances using a shorter time. © 2023 IEEE.

关键词： dynamic optimization evolutionary computation support vector machine time-linkage

来源：评论

学校读者我要写书评

暂无评论

Modeling and Simulation of an Elastic Passive Joint for Non-flipping Jumping Robot

Modeling and Simulation of an Elastic Passive Joint for Non-...

引用

IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Qi Li Liang Peng Zhiyuan Wu Pengda Ye Weitao Zhang Yi Xu Qing Shi Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Ministry of Education Beijing China

ISBN: (数字)9798350372601

ISBN: (纸本)9798350372618

To enhance the environmental adaptability of small-sized robots, jumping is commonly employed to achieve high mobility and obstacle-clearing capabilities. However, the prevalent problem of flipping in jumping robots limits their practical applications. Instead of adding extra control mechanisms and actuators, we propose an elastic passive joint (EPJ) to mitigate flipping. By incorporating a revolute joint, a switch, and a spring at the base of the hindleg, the leg can rotate around the body during the take-off phase, with the spring absorbing angular kinetic energy to reduce excessive angular velocity. We conducted dynamic modeling and a series of simulations to optimize the EPJ’s position and stiffness. The simulation results indicate that with the EPJ in operation, adjusting the axis position slightly results in a zero-point for angular velocity. Additionally, the optimal spring stiffness of 1566 N/m ensures a non-flipping jump, which decreases the jumping height but improves the jumping distance.

关键词： Legged locomotion Analytical models Simulation Prototypes Switches Angular velocity Real-time systems

来源：评论

学校读者我要写书评

暂无评论

TReR: A Lightweight Transformer Re-Ranking Approach for 3D LiDAR Place Recognition

TReR: A Lightweight Transformer Re-Ranking Approach for 3D L...

引用

International Conference on Intelligent Transportation

作者： Tiago Barros Luís Garrote Martin Aleksandrov Cristiano Premebida Urbano J. Nunes Department of Electrical and Computer Engineering University of Coimbra Institute of Systems and Robotics Portugal Dahlem Center for Machine Learning and Robotics Freie Universität Berlin Berlin

Autonomous driving systems often require reliable loop closure detection to guarantee reduced localization drift. Recently, 3D LiDAR-based localization methods have used retrieval-based place recognition to find revisited places efficiently. However, when deployed in challenging real-world scenarios, the place recognition models become more complex, which comes at the cost of high computational demand. This work tackles this problem from an information-retrieval perspective, adopting a first-retrieve-then-re-ranking paradigm, where an initial loop candidate ranking, generated from a 3D place recognition model, is re-ordered by a proposed lightweight transformer-based re-ranking approach (TReR). The proposed approach relies on global descriptors only, being agnostic to the place recognition model. The experimental evaluation, conducted on the KITTI Odometry dataset, where we compared TReR with s.o.t.a. re-ranking approaches such as αQE and SGV, indicate the robustness and efficiency when compared to αQE while offering a good trade-off between robustness and efficiency when compared to SGV.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Improved Contact Stability for Admittance Control of Industrial Robots with Inverse Model Compensation

Improved Contact Stability for Admittance Control of Industr...

引用

IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Kangwagye Samuel Kevin Haninger Sami Haddadin Sehoon Oh Chair of Robotics and Systems Intelligence Munich Institute of Robotics and Machine Intelligence (MIRMI) Technical University Munich Munich Germany Department of Mechanical and Production Engineering Kyambogo University Kampala Uganda Department of Automation Fraunhofer IPK Berlin Germany Department of Robotics and Mechatronics Engineering DGIST Daegu Korea

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Industrial robots have increased payload, repeatability, and reach compared to collaborative robots, however, they have a fixed position controller and low intrinsic admittance. This makes realizing safe contact challenging due to large contact force overshoots in contact transitions and contact instability when the environment and robot dynamics are coupled. To improve safe contact on industrial robots, we propose an admittance controller with inverse model compensation, designed and implemented outside the position controller. By including both the inner loop and outer loop dynamics in its design, the proposed method achieves expanded admittance in terms of increasing both gain and cutoff frequency of the desired admittance. Results from theoretical analyses and experiments on a commercial industrial robot show that the proposed method improves rendering of the desired admittance while maintaining contact stability. We further validate this by conducting actual assembly tasks of plug insertion with fine positioning, switch insertion onto the rail, and colliding the robot end effector with random objects and surfaces, as seen at https://***/8XfkdHEdWDs.

关键词： Service robots Contacts Dynamics Cutoff frequency Observers Industrial robots Stability analysis Admittance Thermal stability Payloads

来源：评论

学校读者我要写书评

暂无评论

Reinforcement Learning for Dynamic Task Execution: A Robotic Arm for Playing Table Tennis

Reinforcement Learning for Dynamic Task Execution: A Robotic...

引用

IEEE International Conference on robotics and Biomimetics

作者： Zida Zhao Haodong Huang Shilong Sun Jing Jin Wenjie Lu School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China Harbin Institute of Technology Shenzhen State Key Laboratory of Robotics and Systems (HIT) Suzhou Research Institute of HIT

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Dynamic tasks like table tennis pose a significant challenge for robots, although relatively easy for humans to learn. These tasks require precise control of rapid movements and timing in situations where the estimation of the flying ball and the robot's state is imprecise. Traditional model-based control methods struggle to accurately model and adapt to these dynamic changes, leading to difficulties and challenges in practical applications. To address this issue, a table tennis hitting method for a robotic arm based on reinforcement learning (RL) is proposed in this paper. Firstly, a simulation model of a robotic arm with eight degrees of freedom for playing table tennis was constructed. Secondly, a simple and effective reward function was designed to accomplish the task of hitting the table tennis ball with the robotic arm. Finally, two sets of experiments involving single and random ball launches were designed. Experimental results demonstrate that the proposed method enables the robotic arm to accurately hit the table tennis ball, showcasing the potential of RL in dynamic tasks.

关键词： Adaptation models Sports equipment Filtering Estimation Reinforcement learning Manipulators Robustness Timing PD control Sports

来源：评论

学校读者我要写书评

暂无评论

Programmable Control of Ultrasound Swarmbots through Reinforcement Learning

arXiv

引用

arXiv 2022年

作者： Schrage, Matthijs Medany, Mahmoud Ahmed, Daniel Acoustic Robotics Systems Lab Institute of Robotics and Intelligent Systems Department of Mechanical and Process Engineering ETH Zurich8092 Switzerland

Powered by acoustics, existing therapeutic and diagnostic procedures will become less invasive and new methods will become available that have never been available before. Acoustically driven microrobot navigation based on microbubbles is a promising approach for targeted drug delivery. Previous studies have used acoustic techniques to manipulate microbubbles in vitro and in vivo for the delivery of drugs using minimally invasive procedures. Even though many advanced capabilities and sophisticated control have been achieved for acoustically powered microrobots, there remain many challenges that remain to be solved. In order to develop the next generation of intelligent micro/nanorobots, it is highly desirable to conduct accurate identification of the micro-nanorobots and to control their dynamic motion autonomously. Here we use reinforcement learning control strategies to learn the microrobot dynamics and manipulate them through acoustic forces. The result demonstrated for the first time autonomous acoustic navigation of microbubbles in a microfluidic environment. Taking advantage of the benefit of the second radiation force, microbubbles swarm to form a large swarm, which is then driven along the desired trajectory. More than 100 thousand images were used for the training to study the unexpected dynamics of microbubbles. As a result of this work, the microrobots are validated to be controlled, illustrating a good level of robustness and providing computational intelligence to the microrobots, which enables them to navigate independently in an unstructured environment without requiring outside assistance. © 2022, CC BY.

关键词： Ultrasonics

来源：评论

学校读者我要写书评

暂无评论

Localization of Dengue Virus Likelihood Using Image Processing Technique 6

Localization of Dengue Virus Likelihood Using Image Processi...

引用

6th IEEE International Conference on Emerging Smart Computing and Informatics, ESCI 2024

作者： Hosen, Md. Mahbub Islam, Md. Rahatul Tabassum, Faria Tonni, Syeda Thamina Noor, Malik Mohammad Nafiur Rahman, Shahid Northern University of Bangladesh Dept. of Computer Science and Engineering Dhaka Bangladesh Kyushu Institute of Technology Dept. of Human Intelligence Systems Wakamatsu Kitakyushu Japan Bangladesh University of Engineering and Technology Dept. of Computer Science and Engineering Dhaka Bangladesh Bangladesh Advance Robotics Research Center Human Intelligence Lab Dhaka Bangladesh Canadian University of Bangladesh Dept. of Electrical and Electronic Engineering Dhaka Bangladesh

ISBN: (纸本)9798350306613

The Aedes mosquito, found in tropical areas, transmits, and causes dengue fever. The spread of the dengue fever virus from an infected Aedes mosquito bite typically takes between three and fifteen days to manifest itself clinically as dengue fever symptoms. Early and automated detection of this illness will reduce the occurrence of outbreaks and facilitate the digitization of the system. Our primary objective is to identify regions at high risk for dengue fever using limited image data through the utilization of sophisticated machine learning and image processing methods. This work showcases the application of transfer learning algorithms for the timely identification of regions at risk for dengue mosquito infestation, particularly in situations where obtaining early data on dengue outbreaks is challenging. The experiments included images of 2150 dengue-positive data sets and 1440 dengue-negative data sets. We used AI and image classifiers Yolo V4 Tin, Tensor Flow, Google Colab, etc. for the training data set, and the system makes predictions with a 99.63% accuracy rate. Our system has some unique attributes;it not only detects the percentage of dengue probability but also the specific dengue-prone location on the submitted image. © 2024 IEEE.

关键词： aedes mosquito dengue-prone image processing yolo v4 tiny

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：